Estimating a surface texture of a tooth

ABSTRACT

Embodiments for estimating a surface texture of a tooth are described herein. One method embodiment includes collecting a sequence of images utilizing multiple light conditions using an intra-oral imaging device and estimating the surface texture of the tooth based on the sequence of images.

PRIORITY INFORMATION

This application is a Continuation of U.S. application Ser. No.14/921,897, filed Oct. 23, 2015, which is a Continuation of U.S.application Ser. No. 13/631,571, now U.S. Pat. No. 9,192,305, filed Sep.19, 2014, the entire contents of which are hereby incorporated byreference.

TECHNICAL FIELD

The present disclosure relates to systems and methods for estimating asurface texture of a tooth.

BACKGROUND

The present disclosure is related generally to the field of dentaltreatment. More particularly, the present disclosure is related tomethods, devices, and systems for estimating a surface texture of atooth.

Dental treatments may involve, for instance, restorative (e.g.,prosthodontic) and/or orthodontic procedures. Prosthodontic proceduresmay be designed to implant a dental prosthesis (e.g., a crown or bridge)in the intra-oral cavity of a patient. Restorative procedures (e.g.,other than prosthodontic) may include creating restorations for broken,damaged, or missing teeth, among others. Orthodontic procedures mayinclude repositioning misaligned teeth and changing bite configurationsfor improved cosmetic appearance and/or dental function. Restorativerepositioning can be accomplished, for example, by applying controlledforces to one or more teeth over a period of time.

A scanning system may be used to obtain a digital data representing apatient's teeth in their then current position (e.g., at the time of thescan) which will be considered, as used herein an initial digital dataset (IDDS) representing an initial tooth arrangement. The IDDS may beobtained in a variety of ways. This can be used for dental records ortreatment purposes.

For example, the patient's teeth may be imaged to obtain digital datausing direct and/or indirect structured light, X-rays, three-dimensionalX-rays, lasers, destructive scanning, computing device-aided tomographicimages or data sets, magnetic resonance images, intra-oral scanningtechnology, photographic reconstruction, and/or other imagingtechniques. The IDDS can include an entire mouth tooth arrangement,some, but not all teeth in the mouth, and/or it can include a singletooth.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A-1D illustrate alternative views of a dental device according toa number of embodiments of the present disclosure

FIG. 2 is a flow chart illustrating an example of a method forestimating a texture of a tooth according to a number of embodiments ofthe present disclosure.

FIG. 3 illustrates a system for estimating a surface texture of a toothaccording to a number of embodiments of the present disclosure.

DETAILED DESCRIPTION

A positive model and/or negative impression of the patient's teeth or atooth may be scanned, for example, using an X-ray, laser scanner,destructive scanner, structured light, and/or other range acquisitionsystem to produce the IDDS. The data set produced by the rangeacquisition system may be converted to other formats to be compatiblewith the software which is used for collecting images within the dataset, and estimating surface texture of a tooth, as described herein.

Whether scanning a patient's dentition directly, or scanning a model orimpression of the patent's dentition, it may be desirable to supportscanning that can capture surface texture of a tooth. Such support canbe beneficial for both video scanning (e.g., a continuous sequence ofimages) and point-and-shoot scanning (e.g., a number of discreteimages). Unless otherwise noted, the term scan, as used herein, canrefer to either or both of video and point-and-shoot scanning.

Some difficulties may arise with scanning when capturing finethree-dimensional (3D) detail of teeth texture is desired. Rather thancapturing fine detail of tooth texture, the use of a dental device(e.g., optical device, intra-oral device, etc.) can result in capturingan overall shape of a tooth, which can lack information needed by adental technician to produce a natural-looking dental restoration, forexample. Without a surface texture of a tooth, (e.g., changes in surface“heights” of a tooth) a dental technician may lose a significant amountof information about the tooth's appearance.

The present disclosure provides computing device implemented methods,computing device readable media, and systems for estimating a surfacetexture of a tooth. Estimating a surface texture of a tooth can includecollecting a sequence of images utilizing multiple light conditionsusing an intra-oral imaging device and estimating the surface texture ofthe tooth based on the sequence of images.

In some embodiments, a dental device can include an array of individuallight sources, each individual light source capable of being turned onand off independently and an optics device capable of capturing an imageof a number of teeth. In some embodiments, a first image of one of thenumber of teeth can be captured using a first individual light source,and a second image of the one of the number of teeth can be capturedusing a second individual light source.

In a number of embodiments, estimating a surface texture of a tooth caninclude receiving a sequence of scanned images of a tooth from a dentalscanner, the sequence including a number of individual images, eachindividual image scanned under a different light condition. Estimating asurface texture of a tooth can also include comparing at least two ofthe individual images within the sequence to one another and estimatingthe surface texture of the tooth based on the comparison. In someexamples, differences between pixel intensities in different individualimages can be compared, and the comparison can be used to estimate thetooth texture.

In the detailed description of the present disclosure, reference is madeto the accompanying drawings that form a part hereof, and in which isshown by way of illustration how one or more embodiments of thedisclosure may be practiced. These embodiments are described insufficient detail to enable those of ordinary skill in the art topractice the embodiments of this disclosure, and it is to be understoodthat other embodiments may be utilized and that process, electrical,and/or structural changes may be made without departing from the scopeof the present disclosure. As used herein, the designator “N”,particularly with respect to reference numerals in the drawings,indicates that a number of the particular feature so designated can beincluded. As used herein, “a number of” a particular thing can refer toone or more of such things (e.g., a number of teeth can refer to one ormore teeth).

The figures herein follow a numbering convention in which the firstdigit or digits correspond to the drawing figure number and theremaining digits identify an element or component in the drawing.Similar elements or components between different figures may beidentified by the use of similar digits. For example, 106 may referenceelement “06” in FIG. 1, and a similar element may be referenced as 306in FIG. 3. As will be appreciated, elements shown in the variousembodiments herein can be added, exchanged, and/or eliminated so as toprovide a number of additional embodiments of the present disclosure. Inaddition, as will be appreciated, the proportion and the relative scaleof the elements provided in the figures are intended to illustratecertain embodiments of the present invention, and should not be taken ina limiting sense.

FIGS. 1A-1D illustrate alternate views of a dental device (e.g., anintra-oral scanner) according to a number of embodiments of the presentdisclosure. In some examples, device 106 can include a 3D scanner,and/or a 3D scanner in combination with a two dimensional imager. Thespatial relationship of the device 106 with respect to a dentition 104in the intra-oral cavity is shown. A plurality of images showing therelationship at any other desired vantage point (viewpoint) may beprovided on a display, including for example the vantage point as wouldbe seen by a dental practitioner with respect to a real intra-oralcavity, either by default or by being chosen by the user by interactingwith a computing device (e.g., computing device 180 shown in FIG. 1C)controlling the device 106. A dynamic image can be provided, in whichthe user can change the vantage point of the image interactively. Avideo clip or the like may be provided for providing the user with asequence of operations of the scanner.

Images presented on a display to a user can be composites of virtualmodels of the dentition 104 as created with aid of the device 106 andstored in memory. These virtual models can be manipulated by the userand/or the computing device to provide the correct spatial relationship,in virtual space and can be displayed as 2D or 3D images. Optionally,the position of the device 106 and the direction of the scanning axis(e.g., z-axis) can be displayed with respect to the dentition 104. Thescanning axis (e.g., z-axis) can be defined as orthogonal to thescanning face 108 of the device 106, but may be defined according toother suitable geometric or other parameters of the scanner 106. Theimages of the dentition 104 can be displayed as having 3D attributes andrealistic dental morphologies and/or each dental surface can berepresented, for example, by a geometrical form (e.g., simple wedgesrepresenting incisors, cones representing canines, and cylindersrepresenting molars).

The virtual model can be custom-modified to show a virtual preparationat each corresponding dental site where a real preparation is to befound, and also virtual teeth may be removed from the model where noneare to be found in the real intra-oral cavity (e.g., where teeth havebeen removed for accommodating a pontic). These features can furtherfacilitate identification of the positions and orientations of thedevice 106 with respect to the dentition 104.

Non-image data can be provided identifying the position and orientationof the device 106 with respect to the dentition 104 (e.g., therelationships), and this data may be provided, for example, in the formof a table listing suitable corresponding geometric data, and alsoincluding, for example, the spacing between the scanning face 108 andthe dental surface of interest, an identification of the particularsurface being scanned, etc. The relationships can be displayed inalphanumeric form, as a set of instructions or statements describing therelative positions of the device 106 and the dentition 104, for example.The relationships can be displayed in audible form, wherein for examplesuch instructions or statements are broadcast by a speaker or the like,either from a prerecording, or synthetically created by the computingdevice.

Device 106 can include an optics device 110 capable of capturing animage of a number of teeth of dentition 104, for example. In a number ofembodiments, optics device 110 can be included as a part of device 106,within computing device 180, or can be a separate component. Opticsdevice 110 can, for example, capture an entire image with increasedfocus over a variety of 3D imaging, including, for example, confocalimaging. In some embodiments, device 106, optics device 110, and/orcomputing device 180 can include a database (e.g., memory 382, asillustrated in FIG. 3) in which to store a captured image.

Scanning face 108 can include an array 114 of individual light sources(e.g., light sources 112-1 and 112-2). In a number of embodiments, alight source may not include an original light source (e.g., one lightsource can power a number of illumination sites) and/or a light sourcecan include a number of lights from a single source. A light source, forexample, can be a local light source with respect to an image. In someembodiments, a light source can include a remote original light sourceand/or an illumination site that can be moved (e.g., via a mirror) tohave an effect of light moving or coming from a number of directions.

In a number of examples, a light source can include one or moreillumination sites which illuminate an object (e.g., at one point intime). Each illumination site can be its own original source ofillumination, and/or it can be remotely illuminated from one or moreoriginal light sources (e.g., via a mirror, fiber optics, etc.). In someexamples, an additional light source can include one or moreillumination sites where one or more of the illumination sites isdifferent (e.g., location, frequency, etc.) from an original lightsource relative to an object being illuminated.

In some examples, device 106 can focus the individual light sources ofarray 114 to determine a structure, texture, slope, orientation, etc. ofa tooth. Any number of individual light sources may be used within array114. The individual light sources can include a number of differentshapes and/or types of light sources, such as, for example,light-emitting diode (LED) light sources, halogen light sources, xenonlight sources, etc. In some embodiments, the individual light sourcescan include, for example, fiber optics on, in, and/or attached to thedevice 106. A different light source can be used, for example, to powerthe fiber optics, utilizing optical switches to turn all or a portion ofthe fiber optics on and/or off. In a number of embodiments, each of theindividual light sources can be capable of being turned on and offindependently or in any combination.

In a number of embodiments, array 114 of individual light sources caninclude individual light sources in the form of a ring, however,embodiments are not limited to a ring formation. For example, array 114can include individual light sources in alternating positions andpatterns. In some embodiments, the individual light sources can bemoveable, include a moveable mirror, and/or include a moveable lightsupport structure (e.g., on scanning face 108), for example. Array 114can include, for example, two or more different light locations relativeto an object, which can be from one original light source (e.g., using amoveable mirror and/or fiber optics) and/or can be from multipleoriginal light sources. In some examples, a same light source can beused as the source used for the scanner when fiber optics are utilized.

Array 114 can be detachable from device 106 in some examples, and can beretrofit onto an existing device (e.g., intra-oral scanner) in someembodiments. For example, array 106 can be an attachment at a tip of andexisting device and/or device 106, to be used in areas whereidentification of surface texture is desired (e.g., anterior teeth). Inother embodiments, array 114 is not detachable, but a fixed part ofdevice 106. In some embodiments, device 106 can be detachable from adifferent dental device used in intra-oral scanning, for example.

In a number of embodiments, array 114 can be located at an end of device106 and/or can be located substantially near an end of device 106, forexample. An array at an end of device 106 can be included in any of: adevice including an array of individual light sources comprised of oneor more illumination sites, each individual light source capable ofbeing turned on and off independently and an optics device capable ofcapturing an image of a number of teeth, wherein a first image of one ofthe number of teeth is captured using a first individual light source,and a second image of the one of the number of teeth is captured using asecond individual light source; the device including a database in whichto store the captured images; and/or the array of individual lightsources includes individual light-emitting diode (LED) light sources,halogen light sources, and/or xenon light sources, among others.

In an example, an array located substantially near an end of device 106can be included in any of: a device including an array of individuallight sources comprised of one or more illumination sites, eachindividual light source capable of being turned on and off independentlyand an optics device capable of capturing an image of a number of teeth,wherein a first image of one of the number of teeth is captured using afirst individual light source, and a second image of the one of thenumber of teeth is captured using a second individual light source; thedevice including a database in which to store the captured images;and/or the array of individual light sources includes individuallight-emitting diode (LED) light sources, halogen light sources, and/orxenon light sources, among others.

In a number of embodiments, a detachable array can be included in anyof: a device including an array of individual light sources, eachindividual light source capable of being turned on and off independentlyand an optics device capable of capturing an image of a number of teeth,wherein a first image of one of the number of teeth is captured using afirst individual light source, and a second image of the one of thenumber of teeth is captured using a second individual light source; thedevice including a database in which to store the captured images;and/or the array of individual light sources includes individuallight-emitting diode (LED) light sources. For example, in any of theabove-described embodiments, the individual light sources can bedetachable.

In some examples, an array in the form of a ring can be included in anyof: a device including an array of light sources, each individual lightsource including one or more illumination sites capable of being turnedon and off independently and an optics device capable of capturing animage of a number of teeth, wherein a first image of one of the numberof teeth is captured using a first individual light source, and a secondimage of the one of the number of teeth is captured using a secondindividual light source; the device including a database in which tostore the captured images; and/or the array of individual light sourcesincludes individual light-emitting diode (LED) light sources, halogenlight sources, and/or xenon light sources, among others. For example, inany of the above-described embodiments, the array can be in the form ofa ring.

Images can be captured by device 106 using different individual lightsources, in some embodiments. For example, an image of a tooth can becaptured with optics device 110 using individual light source 112-1, anda different image of the tooth can be captured using individual lightsource 112-2. These different images can be used to estimate a surfacetexture of the tooth, for example.

In a number of embodiments, a dental device for estimating tooth texturecan be separate from an intra-oral scanner and can include a camera anda number of light sources, for example.

FIG. 2 is a flow chart illustrating an example of a method 216 forestimating a surface texture of a tooth according to one or moreembodiments of the present disclosure. Enhancing details in a 3D imageof a tooth by capturing reflectance of light in a way that isincreasingly sensitive to small changes in the surface texture of the atooth can result in more accurate representative images (e.g., images oftooth texture) of a tooth, for example. These representative images canbe used in some embodiments to create or produce tooth restorations(e.g., veneers).

At 218, a sequence of images is collected utilizing multiple lightconditions using an intra-oral imaging device. In a number ofembodiments, a dental device, such as device 106 can be the intra-oralimaging device used to collect (e.g., capture) the sequence of images.The sequence of images can be collected individually, and in someembodiments, a different light source can be used to collect each imagewith the sequence. Collecting the sequence of images under multiplelight conditions (e.g., multiple varying light conditions and/orsources) can create and/or enhance an illusion of depth in an image, forexample.

For example, a first individual light source can be turned on, a firstimage can be collected, and the first individual light source can beturned off. A second individual light source can be turned on, and asecond image can be collected. The second individual light source can beturned off. This process can be repeated for any number of lightsources, light source combinations, and/or images. In a number ofembodiments, the lights can be turned on and off at the same or varyinglengths of time and/or increments, for example.

Collecting the sequence of images can include, for example, collecting asequence of images of the same area of the same tooth under multiplelight conditions. In some embodiments a portion of a particular toothmay be a focal point, so a sequence of images of just that portion canbe collected, for example.

In a number of embodiments, the multiple light conditions can include adifferent number of light sources such as, for example, a differentcombination of light sources, a number of light sources from a number ofdifferent directions and/or locations, a number of light sources ofdifferent frequencies, a number of light sources on different spectrums,and/or a number of light sources of different intensities, among others.

The sequence of images can also be collected using a moving lightsource, for example. The light source can be moved along a path (e.g., aparticular, predetermined path) and/or a number of different paths whilecontinuously collecting images. In some examples, this can have a sameor similar effect as turning individual light sources on and off.

In a number of embodiments, collecting a sequence of images ofapproximately the same area of the same tooth under multiple lightconditions can be included in any of: a method for estimating a surfacetexture of a tooth that includes collecting a sequence of imagesutilizing multiple light conditions (e.g., a different number of lightsources, a different combination of light sources, a number of lightsources from different directions and/or locations, a number of lightsources of different frequencies, a number of light sources on differentspectrums, a moving light source, and a number of light sources ofdifferent intensities) using an intra-oral imaging device and estimatingthe surface texture of the tooth based on the sequence of images; themethod, wherein collecting the sequence of images utilizing multiplelight conditions includes utilizing a different light source to captureeach image within the sequence; the method, including comparing thecollected sequence of images to a dental model of the tooth; the method,wherein comparing the collected sequence of images includes convertingthe collected sequence of images to normal vector information per pixelof each of the images within the sequence; and/or the method, whereincomparing the collected sequence of images includes automaticallycomputing. For example, in any of the above-described embodiments, asequence of images of approximately the same area of the same toothunder multiple light conditions can be collected.

In some examples, collecting a sequence of images using a dental devicethat includes a ring of light sources comprised of one or moreillumination sites can be included in any of: a method for estimating asurface texture of a tooth that includes collecting a sequence of imagesutilizing multiple light conditions (e.g., having a different number oflight sources such as a different combination of light sources, a numberof light sources from different directions and/or locations, a number oflight sources of different frequencies, a number of light sources ondifferent spectrums, a moving light source, and a number of lightsources of different intensities) using an intra-oral imaging device andestimating the surface texture of the tooth based on the sequence ofimages; the method, wherein collecting the sequence of images utilizingmultiple light conditions includes utilizing a different light source tocapture each image within the sequence; the method, including comparingthe collected sequence of images to a dental model of the tooth; themethod, wherein comparing the collected sequence of images includesconverting the collected sequence of images to normal vector informationper pixel of each of the images within the sequence; and/or the method,wherein comparing the collected sequence of images includesautomatically computing. For example, in any of the above-describedembodiments, a sequence of images can be collected using a dental devicethat includes a ring of light sources comprised of one or moreillumination sites.

The ring of light sources can be of any shape or size which can affectdifferent light conditions on the object. For example, the ring can begenerally circular, oval, straight sided, continuous or discontinuous,FIG. 1D, as but an example, shows one embodiment of the ring to bestraight sided of a rectangular shape.

At 220, the surface texture of the tooth is estimated based on thesequence of images. In a number of embodiments, the sequence of imagescan be images taken of a same area or surface at a same viewpoint underthe multiple light conditions. Surface texture can include, for example,changes (e.g., small changes) in a depth of the tooth's surface. Surfacetexture can also include, for example, a surface gradient (e.g., slope)of a tooth, surface orientation, and/or an orientation of a tooth.

The collected sequence of images can be compared to a dental model ofthe tooth in some embodiments. For example, a model and/or restorationpreviously constructed can be compared to the sequence of images todetermine accuracy and realism of the model and/or restoration. In someembodiments, a 3D alignment between the collected sequence of images andthe dental model can be automatically computed. For example, a dentalmodel (e.g., 3D dental model) can be scanned, and this scan data can becompared to the collected sequence of images to see if the texturesalign. In some embodiments, a 3D alignment can be computed (e.g.,automatically) between each individual image and the 3D model.

In some examples, computing a 3D alignment between an individual imageand a 3D model can be included in any of: receiving a sequence ofscanned images of a tooth from a dental device, the sequence including anumber of individual images, each individual image collected under adifferent light condition, comparing at least two of the individualimages within the sequence to one another, and estimating the surfacetexture of the tooth based on the comparison; estimating a surfacetexture of a neighboring tooth based on the estimated surface texture ofthe tooth; converting the estimated surface texture of the tooth into asurface normal vector for each pixel of each individual image; and/oradding a detail to the three-dimensional dental model based on thesurface normal vector.

In a number of embodiments, the collected sequence of images (e.g.,image data) can be converted to normal vector information per pixel ofeach of the images within the sequence, and the normal vectorinformation can be compared to the dental model. The normal vector caninclude a vector perpendicular to a surface at a particular point. Forexample, each pixel of each image can be identified and analyzedindividually. A computational model (e.g., algorithm) can be utilized toconvert the image data into the normal vector information per pixel ofeach image. In some examples, a least-squares method can be utilized.For example, the conversion can be made by inverting a linear equation:

l=n×L,

where l is a (known) vector of m observed intensities, n is the(unknown) surface normal (e.g., normal vector information), and L is a(known) 3×m matrix of normalized light directions under an assumption ofLambertian reflectance. In some embodiments, a surface texture isestimated and displayed (e.g., via a user interface), and the estimatedsurface texture is not compared to the dental model.

In some embodiments, dental detail can be added to a dental model (e.g.,restoration) based on the estimated surface texture. Dental detail canalso be added to a dental model utilizing the per-pixel vectorinformation, for example. The estimated surface texture of the tooth canbe converted into a surface normal vector for each pixel of eachindividual collected image in a number of embodiments. Detail can beadded to a 3D model based on the surface normal vector. A surface normalvector can provide increased surface texture over depth measurementsalone, for example. In some embodiments, the estimation, normal vector,and per-pixel vector information can be used to determine where on atooth particular textures should be added for detail, for example.

In some examples, adding dental detail to a dental model based on theestimated surface texture can be included in any of: a method forestimating a surface texture of a tooth that includes collecting asequence of images utilizing multiple light conditions (e.g., having adifferent number of light sources such as a different combination oflight sources, a number of light sources from different directionsand/or locations, a number of light sources of different frequencies, anumber of light sources on different spectrums, a moving light source,and a number of light sources of different intensities) using anintra-oral imaging device and estimating the surface texture of thetooth based on the sequence of images; the method, wherein collectingthe sequence of images utilizing multiple light conditions includesutilizing a different light source to capture each image within thesequence; the method, including comparing the collected sequence ofimages to a dental model of the tooth; the method, wherein comparing thecollected sequence of images includes converting the collected sequenceof images to normal vector information per pixel of each of the imageswithin the sequence; and/or the method, wherein comparing the collectedsequence of images includes automatically computing. For example, in anyof the above-described embodiments, dental detail to a dental model canbe added based on the estimated surface texture.

Surface texture of a tooth can be displayed, for example, by showing avideo and/or other illustration of the sequence of images captured undervarying light conditions, without aligning them to a 3D model. Surfacetexture can also be displayed, for example, by aligning the sequence ofimages to the 3D model, and displaying the image as an overlay over the3D model, without computing normal vectors from those images.

In a number of embodiments, a surface texture of a neighboring tooth canbe estimated based on the estimated surface texture of the tooth.Neighboring teeth can include complimentary tooth textures, and atexture of a tooth that neighbors a different tooth with a known texturemay be estimated, based on the known texture, for example. In someembodiments, capturing a surface texture of a neighboring tooth can beused during creation of a veneer restoration for an impaired tooth. Forexample, the restoration can be designed so that the appearance of thetwo teeth side-by-side is aesthetically pleasing.

FIG. 3 illustrates a system for estimating a surface texture of a toothaccording to a number of embodiments of the present disclosure. Thesystem illustrated in FIG. 3 can include a computing device 380 having anumber of components coupled thereto. The computing device 380 caninclude a processor 381 and memory 382. The memory 382 can includevarious types of information including data 383 and executableinstructions 384 as discussed herein. In a number of embodiments, memorycan be divided between a mother-board and a graphic processing unit(GPU), for example.

In some examples of the present disclosure, a system for estimating asurface texture of a tooth can include a number of processing units, andin some embodiments, can include a number of processing units ofdifferent kinds. For example, the system can include afield-programmable gate array (FPGA and/or a digital signal processor(DSP) on a chip and/or inside a device (e.g., device 106).

In a number of embodiments, the system can include a GPU to perform aportion of data processing and/or perform graphic computations, forexample. The system can also include, for example, a number ofprocessors on computing device 380.

The memory 382 and/or the processor 381 may be located on the computingdevice 380 or off the device in some embodiments. As such, asillustrated in the embodiment of FIG. 3, a system can include a networkinterface 385. Such an interface can allow for processing on anothernetworked computing device or such devices can be used to obtaininformation about the patient or executable instructions for use withvarious embodiments provided herein.

In a number of embodiments, captured images can be processed inside adental device (e.g., device 206, 306) in a dedicated computing unit (notpictured), and information collected under varying light conditions(e.g., resulting surface normal vector information) can be transmitteddirectly from the dental device to a computing device (e.g., computingdevice 280, 380).

As illustrated in the embodiment of FIG. 3, a system can include one ormore input and/or output interfaces 386. Such interfaces can be used toconnect the computing device 380 with one or more input or outputdevices.

For example, in the embodiment illustrated in FIG. 3, the systemincludes connectivity to a dental device and/or scanner 306 (e.g., anintra-oral scanner including one or more of a 3D scanner and a 2D imageras described herein), a camera dock 388, an input device 389 (e.g., akeyboard, mouse, etc.), a display device 390 (e.g., a monitor), and aprinter 391. The input/output interface 386 can receive data, storablein the data storage device (e.g., memory 382), representing 3D and/or 2Ddata, among other data, corresponding to the patient's dentition.Although the scanner 306 is illustrated as a component separate fromcomputing device 380, in some embodiments, the scanner (e.g., theintraoral scanner) can include the components and/or functionalitydescribed herein with respect to the computing device 380.

In some embodiments, the scanner 306 can be configured to scan aphysical mold of a patient's upper jaw and a physical mold of apatient's lower jaw. In one or more embodiments, the scanner 306 can beconfigured to scan the patient's upper and/or lower jaws directly (e.g.,intra-orally).

The camera dock 388 can receive an input from an imaging device (e.g., a2D imaging device) such as a digital camera or a printed photographscanner separate from any 2D imaging device on the scanner 306. Theinput from the imaging device can be stored in the data storage device382.

The processor 381 can be configured to provide a visual indication of avirtual dental model 351 on the display 390 (e.g., on a GUI running onthe processor 381 and visible on the display 390). The processor 381 canfurther be configured (e.g., via computer executable instructions storedin a tangible non-transitory computer readable medium) to perform thevarious methods, algorithms, and/or functionality described herein. Theprocessor 381, in association with the data storage device 382, can beassociated with data and/or application modules 392. The processor 381,in association with the data storage device 382, can store and/orutilize data and/or execute instructions to provide a number ofapplication modules for motion compensation in a 3D scan.

Such connectivity can allow for the input and/or output of virtualdental model information or instructions (e.g., input via keyboard)among other types of information. Although some embodiments may bedistributed among various computing devices within one or more networks,such systems as illustrated in FIG. 3 can be beneficial in allowing forthe capture, calculation, and/or analysis of information discussedherein.

A system for estimating a surface texture of a tooth can include ascanning module and a processing module (e.g., processor 381). Thescanning module can include a dental device (e.g., an intra-oral 3Dscanner). The processing module (e.g., processor 381) can (e.g., viaapplication module 392) receive 354 a sequence of scanned images of atooth from a dental device, the sequence including a number ofindividual images, each individual image collected under a differentlight condition. The processing module (e.g., processor 381) can (e.g.,via application module 392) compare 356 at least two of the individualimages within the sequence to one another, and estimate 360 the surfacetexture of the tooth based on the comparison. In a number ofembodiments, the at least two of the individual images can include 2Dimages, 3D images, and/or a combination of 2D and 3D images.

Although specific embodiments have been illustrated and describedherein, those of ordinary skill in the art will appreciate that anyarrangement calculated to achieve the same techniques can be substitutedfor the specific embodiments shown. This disclosure is intended to coverany and all adaptations or variations of various embodiments of thedisclosure.

It is to be understood that the use of the terms “a”, “an”, “one ormore”, “a number of”, or “at least one” are all to be interpreted asmeaning one or more of an item is present. Additionally, it is to beunderstood that the above description has been made in an illustrativefashion, and not a restrictive one. Combination of the aboveembodiments, and other embodiments not specifically described hereinwill be apparent to those of skill in the art upon reviewing the abovedescription.

It will be understood that when an element is referred to as being “on,”“connected to” or “coupled with” another element, it can be directly on,connected, or coupled with the other element or intervening elements maybe present. In contrast, when an element is referred to as being“directly on,” “directly connected to” or “directly coupled with”another element, there are no intervening elements or layers present. Asused herein, the term “and/or” includes any and all combinations of oneor more of the associated listed items.

It will be understood that, although the terms first, second, etc. maybe used herein to describe various elements and that these elementsshould not be limited by these terms. These terms are only used todistinguish one element from another element. Thus, a first elementcould be termed a second element without departing from the teachings ofthe present disclosure.

The scope of the various embodiments of the disclosure includes anyother applications in which the above structures and methods are used.Therefore, the scope of various embodiments of the disclosure should bedetermined with reference to the appended claims, along with the fullrange of equivalents to which such claims are entitled.

In the foregoing Detailed Description, various features are groupedtogether in a single embodiment for the purpose of streamlining thedisclosure. This method of disclosure is not to be interpreted asreflecting an intention that the embodiments of the disclosure requiremore features than are expressly recited in each claim.

Rather, as the following claims reflect, inventive subject matter liesin less than all features of a single disclosed embodiment. Thus, thefollowing claims are hereby incorporated into the Detailed Description,with each claim standing on its own as a separate embodiment.

What is claimed is:
 1. A computing device implemented method forestimating a surface texture of a tooth, comprising: collecting asequence of images utilizing multiple light conditions using anintra-oral imaging device; comparing at least two of the images withinthe sequence of images to one another; estimating the surface texture ofthe tooth based on the comparison of the at least two images within thesequence of images; and converting the estimated surface texture of thetooth into a surface normal vector for each pixel of at least one of thetwo images.
 2. The method of claim 1, wherein the method furtherincludes: turning different light sources on and off to move anillumination site of the different light sources while collecting thesequence of images.
 3. The method of claim 2, wherein the differentlight sources include at least one of: a different number of lightsources, a different combination of light sources, a number of lightsources from different directions or locations, a number of lightsources of different frequencies, a number of light sources on differentspectrums, a moving light source, and a number of light sources ofdifferent intensities.
 4. The method of claim 1, wherein the methodfurther includes: turning different light sources on and offindependently to move an illumination site of the different lightsources while collecting the sequence of images.
 5. The method of claim1, wherein the method further includes: turning different light sourceson and off to move an illumination site of the different light sourcesfrom at least a first position to a second position while collecting thesequence of images.
 6. The method of claim 1, wherein the multiple lightconditions include light generated from a first combination of lightsources to create a first light condition and a second, differentcombination of light sources to generate a second light condition. 7.The method of claim 1, wherein collecting the sequence of imagesutilizing multiple light conditions includes utilizing a different lightsource to capture each image within the sequence.
 8. The method of claim1, wherein the method includes comparing the collected sequence ofimages to a dental model of the tooth.
 9. The method of claim 1, whereincomparing the collected sequence of images includes converting thecollected sequence of images to normal vector information per pixel ofeach of the images within the sequence.
 10. The method of claim 9,wherein the method includes comparing the normal vector information to adental model of the tooth.
 11. The method of claim 1, wherein the methodfurther includes: adding a dental detail to a dental model of the toothbased on the surface normal vector.
 12. The method of claim 1, whereincomparing the collected sequence of images includes automaticallycomputing a three-dimensional alignment between the sequence of imagesand a dental model.
 13. A non-transitory computing device readablemedium having executable instructions that can be executed by aprocessor to cause a computing device to perform a method for estimatinga surface texture of a tooth, comprising: receiving a sequence ofscanned images of a tooth from a dental device, the sequence including anumber of individual images, each individual image collected under adifferent light condition; comparing at least two of the individualimages within the sequence to one another; estimating the surfacetexture of the tooth based on the comparison of the at least twoindividual images within the sequence of images; and converting theestimated surface texture of the tooth into a surface normal vector foreach pixel of at least one of the individual images.
 14. The medium ofclaim 13, wherein the instructions are further executable to compute athree-dimensional alignment between each individual image and athree-dimensional dental model.
 15. The medium of claim 13, whereinestimating the surface texture of the tooth includes a surface gradientof the tooth.
 16. The medium of claim 13, wherein the method furtherincludes estimating a surface texture of a neighboring tooth, based onthe estimated surface texture of the tooth.
 17. The medium of claim 13,wherein estimating the surface texture of the tooth includes estimatingthe surface texture of the tooth based on the comparison of the lightintensities from the at least two individual images within the sequenceof images.
 18. The medium of claim 13, wherein estimating the surfacetexture of the tooth includes estimating the surface texture of thetooth based on the comparison of the pixel intensities from the at leasttwo individual images within the sequence of images.
 19. The medium ofclaim 13, wherein the method further includes adding a dental detail tothe dental model based on the surface normal vector.
 20. The medium ofclaim 13, wherein the dental device, comprises: an array of individuallight sources, each individual light source capable of being turned onand off independently to move an illumination site of the array ofindividual light sources along a path; and an optics device capable ofcapturing an image of a number of teeth, wherein a first image of one ofthe number of teeth is captured using a first individual light source,and a second image of the one of the number of teeth is captured using asecond individual light source.